Control of an experimental mini quad-rotor UAV

Author

Soumelidis, Alexandros ; Gaspar, Peter ; Regula, Gergely ; Lantos, Bela

Author_Institution

Comput. & Autom. Res. Inst. of the Hungarian Acad. of Sci., Budapest

fYear

2008

fDate

25-27 June 2008

Firstpage

1252

Lastpage

1257

Abstract

The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded model-based control scheme that is built upon the concept of back-stepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.

Keywords

helicopters; mobile robots; position control; remotely operated vehicles; embedded on-board computer; hierarchical embedded model-based control scheme; indoor unmanned autonomous quadrotor helicopter; inertial sensor unit; quad-rotor UAV; unmanned aerial vehicles; Communication system control; Computer networks; Digital communication; Embedded computing; Hardware; Helicopters; Sensor systems; Unmanned aerial vehicles; Wireless communication; Wireless sensor networks; embedded control; quadrotor helicopter; unmanned aerial vehicles; vehicles control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2008 16th Mediterranean Conference on

Conference_Location

Ajaccio

Print_ISBN

978-1-4244-2504-4

Electronic_ISBN

978-1-4244-2505-1

Type

conf

DOI

10.1109/MED.2008.4602174

Filename

4602174